Update Tiger Controller Stage Commands

src/navigate/model/devices/APIs/asi/asi_tiger_controller.py

@@ -264,6 +264,9 @@ def set_feedback_alignment(self, axis: str, aa: float) -> None:
         decreased by 1 or 2 as described at the page on tuning stages to minimize
         move time.
 
+        Desirable values for the autozero command are between 90 and 164. We attempt
+        to autozero it 3x.
+
         Parameters
         ----------
         axis : str
@@ -273,8 +276,39 @@ def set_feedback_alignment(self, axis: str, aa: float) -> None:
         """
         self.send_command(f"AA {axis}={aa}\r")
         self.read_response()
-        self.send_command(f"AZ {axis}\r")
-        self.read_response()
+
+        for i in range(3):
+            self.send_command(f"AZ {axis}\r")
+
+    def get_feedback_alignment(self, axis: str) -> float:
+        """Get the stage feedback alignment.
+
+        Returns the current value of the feedback alignment for the
+        specified axis. The value is in the range of 0 to 1000, where 0 is the lowest
+        drive strength and 1000 is the highest drive strength.
+
+        Currently only set to handle one axis at a time.
+
+        Multi-axis command example:
+            Output command: AA X? Y? Z? T? V? W?
+            Response: :A X=88 Y=91 Z=91 T=85 V=91 W=88
+        Single-axis command example:
+            Output command: AA X?
+            Response: :A X=88
+
+        Parameters
+        ----------
+        axis : str
+            Stage axis
+
+        Returns
+        -------
+        float
+            Feedback alignment value
+        """
+        self.send_command(f"AA {axis}?\r")
+        response = self.read_response()
+        return float(response.split("=")[1])
 
     def set_backlash(self, axis: str, val: float) -> None:
         """Enable/disable stage backlash correction.
@@ -302,6 +336,33 @@ def set_backlash(self, axis: str, val: float) -> None:
         self.send_command(f"B {axis}={val:.7f}\r")
         self.read_response()
 
+    def get_backlash(self, axis: str) -> float:
+        """Get the stage backlash correction value.
+
+        Currently only set to handle one axis at a time.
+
+        Multi-axis command example:
+            Output command: B X? Y? Z? T? V?
+            Response: :X=0.000000 Y=0.000000 Z=0.000000 T=0.000000 V=0.000000 A
+
+        Single-axis command example:
+            Output command: B X?
+            Response: :X=0.000000 A
+
+        Parameters
+        ----------
+        axis : str
+            Stage axis
+
+        Returns
+        -------
+        float
+            Distance of anti-backlash motion [mm]
+        """
+        self.send_command(f"B {axis}?\r")
+        response = self.read_response()
+        return float(response.split("=")[1].split()[0])
+
     def set_finishing_accuracy(self, axis: str, ac: float) -> None:
         """Set the stage finishing accuracy.
 
@@ -324,6 +385,32 @@ def set_finishing_accuracy(self, axis: str, ac: float) -> None:
         self.send_command(f"PC {axis}={ac:.7f}\r")
         self.read_response()
 
+    def get_finishing_accuracy(self, axis: str) -> float:
+        """Get the stage finishing accuracy.
+
+        Currently only set to handle one axis at a time.
+
+        Multi-axis command example:
+            Output command: PC X? Y? Z? T? V? W?
+            Response: :A X=88 Y=91 Z=91 T=85 V=91 W=88
+        Single-axis command example:
+            Output command: PC X?
+            Response: :A X=88
+
+        Parameters
+        ----------
+        axis : str
+            Stage axis
+
+        Returns
+        -------
+        float
+            Position error [mm]
+        """
+        self.send_command(f"PC {axis}?\r")
+        response = self.read_response()
+        return float(response.split("=")[1])
+
     def set_error(self, axis: str, ac: float) -> None:
         """Set the stage drift error
 
@@ -345,6 +432,34 @@ def set_error(self, axis: str, ac: float) -> None:
         self.send_command(f"E {axis}={ac:.7f}\r")
         self.read_response()
 
+    def get_error(self, axis: str) -> float:
+        """Get the current stage error
+
+        Get the current Drift Error setting. Currently only set to handle
+        one axis at a time.
+
+        Multi-axis command example:
+            Output command: E X? Y? Z? T? V?
+            Response: :X=0.000780 Y=0.000780 Z=0.000780 T=0.100000 V=0.000780 A
+        Single-axis command example:
+            Output command: E X?
+            Response: :X=0.000780 A
+
+
+        Parameters
+        ----------
+        axis : str
+            Stage axis
+
+        Returns
+        -------
+        float
+            Position error [mm]
+        """
+        self.send_command(f"E {axis}?\r")
+        response = self.read_response()
+        return float(response.split("=")[1].split()[0])
+
     ##### END TODO #####
 
     def disconnect_from_serial(self) -> None:
@@ -1012,34 +1127,39 @@ def logic_card_off(self, axis: str):
         self.send_command(f"6 CCA Z=0\r")
         self.read_response()
 
-    def logic_cell_on(self, axis : str):
+    def logic_cell_on(self, axis: str):
         """Turn on internal logic cell
 
         Parameters
         ----------
         axis : str
             The axis of the internal logic cell
         """
-        self.send_command(f'6 M E = {axis}\r')
+        self.send_command(f"6 M E = {axis}\r")
         self.read_response()
-        self.send_command(f'6 CCA Z=1\r')
+        self.send_command(f"6 CCA Z=1\r")
         self.read_response()
 
-    def logic_cell_off(self, axis :str):
+    def logic_cell_off(self, axis: str):
         """Turn off internal logic cell
 
         Parameters
         ----------
         axis : str
             The axis of the internal logic cell
         """
-        self.send_command(f'6 M E = {axis}\r')
+        self.send_command(f"6 M E = {axis}\r")
         self.read_response()
-        self.send_command(f'6 CCA Z=0\r')
+        self.send_command(f"6 CCA Z=0\r")
         self.read_response()
 
     def single_axis_waveform(
-        self, axis: str, waveform: int = 0, amplitude: int = 1000, offset: int = 500, period: int = 10 
+        self,
+        axis: str,
+        waveform: int = 0,
+        amplitude: int = 1000,
+        offset: int = 500,
+        period: int = 10,
     ) -> None:
         """Programs the analog waveforms using SAA, SAO, SAP, and SAF
         Default waveform is a sawtooth waveform with an amplitude of 1V, an offset of 0.5V and period of 10 ms
@@ -1059,10 +1179,10 @@ def single_axis_waveform(
         """
         print(f"Period (ms): {period}")
         # takes amplitude and offset from navigate and modifies them to how the TG-1000 takes them
-        if (waveform % 128 == 3):
-            offset = .5*(offset+amplitude)
+        if waveform % 128 == 3:
+            offset = 0.5 * (offset + amplitude)
 
-        amplitude = amplitude*2
+        amplitude = amplitude * 2
 
         print("***", waveform, amplitude, axis, offset, period)
         # TODO: 3 is the address of the GALVO DAC. May need to make this configurable.